EEL 4915 SENIOR DESIGN II DEPARTMENT OF ELECTRICAL & COMPUTER ENGINEERING UNIVERSITY OF CENTRAL FLORIDA Senior Design II Term Paper ACDC – A Helping Hand – Group A Akash Jinandra – EE & CpE Carlos Cuesta – EE & CpE Devin Defond – EE Chang Ching Wu – EE Table of Contents 1. Executive Summary.................................................................................................................. 1 2. Project Description.................................................................................................................... 2 2.1. Motivation ........................................................................................................................... 2 2.2. Project Specifications........................................................................................................ 2 2.2.1. Overall Block Diagram ............................................................................................... 2 2.2.1.1. Hardware .............................................................................................................. 3 2.2.1.1.1. Hardware of Arm .......................................................................................... 3 2.2.1.1.2. Hardware of Sleeve ..................................................................................... 4 2.2.1.2. Software ............................................................................................................... 5 2.2.1.2.1. Software of Arm ........................................................................................... 5 2.2.1.2.2. Software of Sleeve ...................................................................................... 5 2.3. Requirements and Standards .......................................................................................... 6 2.4. Impact of Realistic Design Constraints .......................................................................... 8 3. Research .................................................................................................................................... 9 3.1. Power .................................................................................................................................. 9 3.1.1. Power Sources/Implementations ........................................................................... 10 3.1.1.1. AC Implementation ........................................................................................... 10 3.1.1.2. DC Implementation ........................................................................................... 13 3.1.1.2.1. Battery Characteristics .............................................................................. 14 3.1.1.2.2. Battery Types ............................................................................................. 15 3.1.2. Voltage Regulators .................................................................................................. 19 3.1.2.1. Linear Voltage Regulators ............................................................................... 19 3.1.2.2. Switching Voltage Regulators ......................................................................... 20 3.2. Processing ........................................................................................................................ 22 3.2.1. Background of MCU’s .............................................................................................. 23 3.2.1.1. Advantages of Microcontrollers ...................................................................... 23 3.2.1.2. Disadvantages of Microcontrollers ................................................................. 23 3.2.1.3. Packages for Microcontrollers......................................................................... 24 3.2.1.4. Oscillators for Microcontrollers ....................................................................... 25 3.2.1.5. Evaluation Modules for Microcontrollers ....................................................... 26 i 3.2.1.6. Atmel AVR’s ....................................................................................................... 27 3.2.1.7. MSP430 .............................................................................................................. 28 3.2.1.7.1. Comparison of Generations for MSP430 ............................................... 29 3.2.1.7.2. Booster Packs ............................................................................................ 31 3.2.1.7.3. Comparison of MSP430 vs. MSP432 ..................................................... 32 3.2.1.7.4. Software for MSP430 ................................................................................ 32 3.2.1.7.5. Power Modes for MSP430 ....................................................................... 33 3.2.1.8. Advantages of Prospective Microcontrollers ................................................ 33 3.2.1.8.1. Advantages of Launchpad ....................................................................... 33 3.2.1.8.2. Advantages of Arduino ............................................................................. 33 3.2.1.9. Tiva C Series TMC1294 .................................................................................. 33 3.2.1.10. CC3200 Series ................................................................................................ 34 3.2.2. Microprocessors ....................................................................................................... 34 3.2.2.1. What is a Raspberry Pi? .................................................................................. 35 3.2.2.2. Comparison of Raspberry Pi’s ........................................................................ 36 3.2.2.3. Beagle Boneblack ............................................................................................. 37 3.2.3. Programming Languages ........................................................................................ 38 3.3. Sensors ............................................................................................................................. 38 3.3.1. Overview .................................................................................................................... 38 3.3.1.1. Arm ...................................................................................................................... 39 3.3.1.2. Sleeve ................................................................................................................. 39 3.3.2. Accelerometer Overview ......................................................................................... 39 3.3.2.1. Accelerometer Solution .................................................................................... 39 3.3.2.2. Accelerometer Comparison ............................................................................. 40 3.3.3. Gyroscope Background ........................................................................................... 41 3.3.3.1. Gyroscope Solution .......................................................................................... 41 3.3.3.2. Gyroscope Comparison ................................................................................... 42 3.3.4. Magnetometer Background .................................................................................... 42 3.3.4.1. Magnetometer Solution .................................................................................... 42 3.3.4.2. Magnetometer Comparison ............................................................................. 43 3.3.5. Inertial Measurement Unit Overview ..................................................................... 44 3.3.5.1. Inertial Measurement Unit Solution ................................................................ 44 3.3.5.2. Inertial Measurement Unit Comparison ......................................................... 45 ii 3.3.6. Rotary Position Sensor Overview .......................................................................... 46 3.3.7. Infrared Encoder/Decoder Overview ..................................................................... 46 3.3.7.1. Infrared Encoder/Decoder Solution ................................................................ 47 3.3.7.2. Infrared Encoder/Decoder Comparison ......................................................... 47 3.3.8. Potentiometer Overview .......................................................................................... 48 3.3.8.1. Potentiometer Solution ..................................................................................... 48 3.3.8.2. Potentiometer Comparison .............................................................................. 49 3.4. Motors ............................................................................................................................... 49 3.4.1. Overview .................................................................................................................... 49 3.4.1.1. Arm ...................................................................................................................... 50 3.4.1.2. Sleeve ................................................................................................................. 50 3.4.2. Background of Brushed Direct-Current Motor ..................................................... 50 3.4.2.1. Anatomy ............................................................................................................. 50 3.4.2.2. Service Life .......................................................................................................